EP0119409B1 - Mécanisme de pied et son servo-entraînement - Google Patents

Mécanisme de pied et son servo-entraînement Download PDF

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Publication number
EP0119409B1
EP0119409B1 EP84100841A EP84100841A EP0119409B1 EP 0119409 B1 EP0119409 B1 EP 0119409B1 EP 84100841 A EP84100841 A EP 84100841A EP 84100841 A EP84100841 A EP 84100841A EP 0119409 B1 EP0119409 B1 EP 0119409B1
Authority
EP
European Patent Office
Prior art keywords
link
point
pantograph
strut
actuator
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired
Application number
EP84100841A
Other languages
German (de)
English (en)
Other versions
EP0119409A1 (fr
Inventor
Stephen J. Bartholet
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Iteris Inc
Original Assignee
Odetics Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Odetics Inc filed Critical Odetics Inc
Priority to AT84100841T priority Critical patent/ATE23829T1/de
Publication of EP0119409A1 publication Critical patent/EP0119409A1/fr
Application granted granted Critical
Publication of EP0119409B1 publication Critical patent/EP0119409B1/fr
Expired legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members

Definitions

  • the present invention relates to a leg mechanism and actuator of the kind specified in the preamble of claim 1.
  • the computer with its ability to process enormous amounts of data and actuate suitable commands, promises to make the control of the legs of a walking machine a manageable problem.
  • a number of researchers around the world have been working on the development of various different types of walking machines.
  • a pantograph is a parallelogram structure where one corner of the parallelogram is a fixed point, the end of one of the legs of the pantograph is the movable point, the foot, and there exists within the pantograph structure what is known as the true pantograph point, a point which lies on a straight line between the fixed point and the movable point where motion of the true pantograph point in any direction will be translated into a proportional motion of the movable point.
  • both a vertical actuator mechanism and a horizontal actuator mechanism is required.
  • a pantograph mechanism small motions of the pantograph point can be multiplied at the foot so that compact actuator mechanisms can be used and small movements of these mechanism can be translated into large movements of the foot.
  • a walking machine having a leg mechanism and actuator of the kind specified is disclosed in DE-C-554 354.
  • the overall mechanism of this prior art walking machine is so that a vertical movement of each leg is necessarily accompanied by a predefined horizontal movement. Both vertical and horizontal movements are under the control of a cam mechanism. While the extent and the direction of the horizontal movement are adjustable by meanss of a sophisticated slidable drive mechanism the vertical movement cannot be changed in operation of the walking machine.
  • the complete isolation between vertical and horizontal motions is highly desirable.
  • the reason for this is that the vertical actuator mechanism supports the weight of the walking machine and it must, of necessity, be capable of exerting large forces.
  • the horizontal actuator mechanism is solely responsible for moving the foot horizontally and is not loaded by the weight of the walking machine. Thus, this actuator mechanism can be made small and fast provided that horizontal and vertical foot movements can be isolated and that the walking machine body can be kept level to gravity.
  • the ideal type of linkage to transmit large forces with a lightweight, efficient structure is a push-pull link (a strut) where the link is strictly in tension or compression, rather than sliding rails that have to carry high moments.
  • a push-pull link (a strut) where the link is strictly in tension or compression, rather than sliding rails that have to carry high moments.
  • One end ofthestrut would be connected to a vertical drive mechanism and the other connected to a point on the pantograph.
  • this causes a swinging action of the strut and if connected to the true pantograph point, horizontal movement of the mechanism will cause vertical movement of the connection point, preventing the desired isolation between the horizontal and vertical actuator mechanisms.
  • a leg mechanism and actuator therefor comprising a frame member, a first elongate link, a first end of the first link being pivotally connected to the frame member, a second link, a first end of the second link being pivotally connected to a second end of the first link, the second end of the second link forming a foot, a third link, a first end of the third link being pivotally connected to the frame member and the first end of the first link, a fourth link, a first end of the fourth link being pivotally connected to the second end of the third link, the second end of the fourth link being pivotally connected to the second link, drive means connected to the frame member and an actuator strut, a first end of the strut being connected to the drive means and a second end of the strut being pivotally connected to the fourth link, said mechanism being characterized in that said drive means is adapted for linear movement only and the second end of the actuator strut is pivotally connected to an intermediate point on the fourth link, such point
  • An advantage to be derived is the complete isolation between the horizontal and vertical forces for driving the leg mechanism. Another advantage is the ability to use a pantograph leg mechanism which multiplies motion of the drive point to the movable point. Still another advantage is the ability to eliminate slidable drive mechanisms.
  • the present invention provides a vertical actuator mechanism for the legs of a walking machine, including said plurality of links arranged in a pantograph mechanism, with one corner of the pantograph providing the main mounting point for each leg, which permits the use of swinging links in the vertical actuator mechanism and retains complete isolation between the vertical and horizontal drive mechanisms.
  • Vertical actuation of the pantograph mechanism is accomplished by means of a pair of long, swinging struts connected between a drive nut mounted on a lead screw and a point on the pantograph mechanism.
  • the lead screw and a gear arrangement connecting the lead screw to a motor provides force multiplication so very high forces can be developed in the vertical drive mechanism. These high forces are transmitted to the pantograph mechanism using the tension/ compression struts.
  • the struts are connected to the pantograph mechanism at a loca- ' tion other than the true pantograph point, the point being selected so that it automatically compensates for the foreshortening effect of the swinging strut as the foot moves horizontally.
  • a leg mechanism for a walking machine.
  • leg mechanism 10 The construction of a complete walking machine is not directly relevant to the present invention, nor is the exact details of leg mechanism 10, the present invention being only directed to the actuator mechanism for controlling the vertical position of the foot of a pantograph leg mechanism.
  • Leg mechanism 10 includes an elongate, upright leg frame 11 which is adapted to be connected to a walking machine body (not shown) in a manner (not shown) which will permit pivotal movement of leg frame 11.
  • Leg mechanism 10 includes a plurality of elongate links 21, 22, 23 and 24 arranged in a parallelogram to form a pantograph mechanism whereby forces applied at selected points on individual ones of the links can be transmitted to another link which forms the movable foot of the mechanism. More specifically, a first end of leg 21 and a first end of leg 23 are pivotally connected to the lower end of frame member 11 by means of a pin 14. A first end of link 22 is connected to the second end of link 21 by means of a pin 15. The other end of link 22 forms the foot 27 of leg mechanism 10.
  • a first end of link 24 is pivotally connected to the second end of link 23 by means of a pin 16.
  • the second end of link 24 is pivotally connected to an intermediate point on link 22 by means of a pin 17.
  • Links 22 and 23 are parallel to each other and links 21 and 24 are parallel to each other.
  • Mechanism 30 includes at least one elongate actuator strut 31, a first end of which is pivotally connected to an intermediate point on link 24 by means of a pin 18.
  • Vertical actuator mechanism 30 also includes a motor 32 connected by means of suitable gearing 33 to a lead screw 34 which is mounted for rotation in leg frame 11 by a pair of bearings 35 and 36.
  • a drive nut 37 is mounted on lead screw 34 so that drive nut 37 is driven vertically, either up or down, by rotation of lead screw 34.
  • the second end of strut 31 is pivotally connected to drive nut 37 by means of a pin 38.
  • modified pantograph point will be located in a direction relative to the true pantograph point which is parallel to link 22.
  • the modified pantograph point will also be on the opposite side of the true pantograph point from drive nut 37.
  • Dimension A represents the vertical dimension between mounting point 14 and drive nut 37. This dimension is obviously variable as drive nut 37 moves vertically.
  • Dimension B represents the horizontal offset between pin 14 and drive nut 37.
  • Dimension C represents the length of strut 31.
  • Line 40 is a line parallel to links 22 and 23 which passes through the true pantograph point, designated 41.
  • Dimension D is the distance from fixed pin 14 to the intersection of line 40 with link 21.
  • Dimension E is the distance from link 21 to true pantograph point 41 and dimension F is the distance between true pantograph point 41 and the modified pantograph point, defined by pin 18 which connects strut 31 to link 24. It is seen that modified pantograph point 18 is on line 40 which is parallel to link 22. It is also seen that strut 31 is connected to link 24 below true pantograph point 41.
  • A working embodiment of the present invention has been constructed with the following dimensions:

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  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Manipulator (AREA)
  • Rehabilitation Tools (AREA)
  • Toys (AREA)
  • Orthopedics, Nursing, And Contraception (AREA)
  • Portable Nailing Machines And Staplers (AREA)
  • Massaging Devices (AREA)
  • Confectionery (AREA)
  • Manufacturing And Processing Devices For Dough (AREA)
  • Telephone Function (AREA)

Claims (6)

1. Mécanisme de pied et son dispositif de commande, comprenant:
une monture (11)
une première bielle allongée (21), dont une première extrémité est reliée pivotante à ladite monture,
une deuxième bielle (22), dont une première extrémité est reliée pivotante à une seconde extrémité de ladite première bielle, la seconde extrémité (21) de ladite deuxième bielle formant un pied;
une troisième bielle (23), dont une première extrémité est reliée pivotante à ladite monture (11) et à ladite première extrémité de ladite première bielle (21);
une quatrième bielle (24), dont une première extrémité est reliée pivotante à ladite seconde extrémité de ladite troisième bielle (23) la seconde extrémité de ladite quatrième bielle étant reliée pivotante à un point intermédiaire (17) de ladite deuxième bielle (22),
un moyen d'entraînement (32, 33, 34, 37) relié à ladite monture (11) et
une entretoise de commande (31), dont une première extrémité est reliée au dit moyen d'entraînement, et une seconde extrémité reliée pivotante à ladite quatrième bielle (24)
ledit mécanisme de pied étant caractérisé par le fait que ledit moyen d'entraînement (37) est agencé pour n'effectuer qu'un mouvement linéaire et la seconde extrémité de ladite entretoise de commande (31) est reliée pivotante à un point intermédiaire (18) de ladite quatrième bielle, ledit point de ladite quatrième bielle étant choisi de manière que ledit pied se déplace à peu près linéairement lorsque ladite entretoise pivote autour de sa dite première extrémité.
2. Mécanisme de pied et son dispositif de commande selon la revendication 1, dans lequel la direction de mouvement linéaire dudit pied (27) est perpendiculaire à la direction de mouvement linéaire dudit moyen d'entraînement (37).
3. Mécanisme de pied et son dispositif de commande selon la revendication 1 ou 2, dans lequel ladite monture (11) est agencée pour être disposée verticalement, ledit moyen d'entraînement (37) est agencé pour se déplacer en direction verticale et ledit point (18) sur ladite quatrième bielle (24) est choisi de manière que ledit pied (27) se déplace horizontalement lorsque ladite entretoise (31) pivote autour de sa dite première extrémité.
4. Mécanisme de pied et son dispositif de commande selon l'une des revendications 1 à 3, dans lequel lesdites première, deuxième, troisième et quatrième bielles (21, 22, 23, 24) forment un pantographe ayant un "vrai point de pantographe" (41) et ledit point intermédiaire (18) sur ladite quatrième bielle (24) est situé, par rapport audit "vrai point de pantographe' (41), dans une direction parallèle à ladite deuxième bielle (22).
5. Mécanisme de pied et son dispositif de commande selon la revendication 4, dans lequel ledit "vrai point de pantographe" (41) est situé entre ledit point intermédiaire (18) sur ladite quatrième bielle (24) et ladite première extrémité de ladite entretoise (31
6. Mécanisme de pied et son dispositif de commande selon la revendication 1, dans lequel ledit moyen d'entraînement (37) comprend:
une vis-mère (34) montée rotative par rapport à ladite monture (11)
un moteur (32) pour entraîner ladite vis-mère (34), et
un écrou d'entraînement monté sur ladite vis-mère (34) et agencé pour n'effectuer qu'un mouvement linéaire, ladite première extrémité de ladite entretoise (31) étant reliée au dit écrou d'entraînement (37).
EP84100841A 1983-03-18 1984-01-27 Mécanisme de pied et son servo-entraînement Expired EP0119409B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT84100841T ATE23829T1 (de) 1983-03-18 1984-01-27 Fussmechanismus und zugehoeriger stellantrieb.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US06/476,583 US4502556A (en) 1983-03-18 1983-03-18 Vertical actuator mechanism for the legs of a walking machine
US476583 1983-03-18

Publications (2)

Publication Number Publication Date
EP0119409A1 EP0119409A1 (fr) 1984-09-26
EP0119409B1 true EP0119409B1 (fr) 1986-11-26

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Family Applications (1)

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EP84100841A Expired EP0119409B1 (fr) 1983-03-18 1984-01-27 Mécanisme de pied et son servo-entraînement

Country Status (7)

Country Link
US (1) US4502556A (fr)
EP (1) EP0119409B1 (fr)
JP (1) JPS59195475A (fr)
AT (1) ATE23829T1 (fr)
AU (1) AU2327184A (fr)
DE (1) DE3461442D1 (fr)
IL (1) IL70622A0 (fr)

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AU6926896A (en) * 1995-08-21 1997-03-12 Karl Greil Device for guiding a support element along an essentially straight line
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TWI287103B (en) * 2005-11-04 2007-09-21 Univ Nat Chiao Tung Embedded network controlled optical flow image positioning omni-direction motion system
CN102060059B (zh) * 2010-11-23 2012-07-25 南京航空航天大学 基于平行四边形的伸缩四连杆关节传动机构
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CN105366027B (zh) * 2015-11-27 2017-07-28 重庆大学 着陆引导机构
CN105905183B (zh) * 2016-05-13 2018-10-23 深圳市行者机器人技术有限公司 对分上体行走装置
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CN109987168B (zh) * 2017-12-29 2021-06-22 中国核动力研究设计院 一种基于同步带传动的三自由度机器人腿部系统
CN109987167B (zh) * 2017-12-29 2021-06-22 中国核动力研究设计院 一种面向涉核复杂环境的高度适应性机器人通用运动平台
CN108944302B (zh) * 2018-05-23 2021-10-22 上海交通大学 一种微小型四旋翼六足仿生飞爬机器人
CN108910088B (zh) * 2018-07-10 2022-06-21 上海交通大学 着陆行走一体化机器人
CN108945520B (zh) * 2018-07-10 2021-01-29 上海交通大学 腿式着陆巡视机器人
CN109319173B (zh) * 2018-09-28 2021-06-15 南京航空航天大学 一种可移动月面软着陆装置
CN110116822B (zh) * 2019-05-22 2021-09-21 上海交通大学 月面可重复着陆缓冲与移动系统
CN111452879B (zh) * 2020-04-09 2021-05-28 北京交通大学 机器人仿生足及具有其的机器人
KR102403747B1 (ko) * 2020-07-31 2022-05-31 농업회사법인 심바이오틱 주식회사 보행로봇의 레그모듈
CN112061262B (zh) * 2020-09-22 2022-01-25 北京航空航天大学 一种双平行四杆传动机构的单腿装置及六轮腿机器人
CN113320716B (zh) * 2021-06-16 2022-08-09 上海交通大学 具备自主调节足端触地点的外星逆境着陆器
CN113401363B (zh) * 2021-06-16 2022-08-30 上海交通大学 外星复杂环境自主调姿着陆巡视发射一体化探测器
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Also Published As

Publication number Publication date
AU2327184A (en) 1984-09-20
US4502556A (en) 1985-03-05
IL70622A0 (en) 1984-04-30
ATE23829T1 (de) 1986-12-15
JPS59195475A (ja) 1984-11-06
EP0119409A1 (fr) 1984-09-26
DE3461442D1 (en) 1987-01-15

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